SA.FullBodyIK.Bone.Prepare C# (CSharp) Method

			public void Prepare( FullBodyIK fullBodyIK )
			{
				Assert( fullBodyIK != null );

				_transformIsAlive = -1;
				_localAxisBasis = Matrix3x3.identity;
				_isWritebackWorldPosition = false;

				_parentBone = null;

				// Find transform alive parent bone.
				if( this.transformIsAlive ) {
					for( Bone temp = _parentBoneLocationBased; temp != null; temp = temp._parentBoneLocationBased ) {
						if( temp.transformIsAlive ) {
							_parentBone = temp;
							break;
						}
					}
				}
				
#if SAFULLBODYIK_DEBUG
				if( _boneType != BoneType.Hips && _boneType != BoneType.Eye ) {
					if( this.transformIsAlive && _parentBone == null ) {
						DebugLogError( "parentBone is not found. " + _boneLocation + " (" + _boneType + ") parentBoneLocationBased: " + ((_parentBoneLocationBased != null) ? _parentBoneLocationBased.name : "") );
					}
				}
#endif
				
				if( _boneLocation == BoneLocation.Hips ) {
					if( this.transformIsAlive ) {
						_isWritebackWorldPosition = true;
					}
				} else if( _boneLocation == BoneLocation.Spine ) {
					if( this.transformIsAlive ) {
						if( _parentBone != null && _parentBone.transformIsAlive ) {
							if( IsParentOfRecusively( _parentBone.transform, this.transform ) ) {
								_isWritebackWorldPosition = true;
							}
						}
					}
				}

				if( _boneType == BoneType.Eye ) {
					if( fullBodyIK._IsHiddenCustomEyes() ) {
						_isWritebackWorldPosition = true;
					}
				}

				// Get defaultPosition / defaultRotation
				if( this.transformIsAlive ) {
					_defaultPosition = this.transform.position;
					_defaultRotation = this.transform.rotation;
					SAFBIKMatSetRot( out _defaultBasis, ref _defaultRotation );
					if( _parentBone != null ) { // Always _parentBone.transformIsAlive == true
						_defaultLocalTranslate = _defaultPosition - _parentBone._defaultPosition;
						_defaultLocalLength = FastLength.FromVector3( ref _defaultLocalTranslate );
						if( _defaultLocalLength.length > FLOAT_EPSILON ) {
							float lengthInv = (1.0f / _defaultLocalLength.length);
							_defaultLocalDirection.x = _defaultLocalTranslate.x * lengthInv;
							_defaultLocalDirection.y = _defaultLocalTranslate.y * lengthInv;
							_defaultLocalDirection.z = _defaultLocalTranslate.z * lengthInv;
						}
					}

					SAFBIKMatMultInv0( out _worldToBaseBasis, ref _defaultBasis, ref fullBodyIK.internalValues.defaultRootBasis );
					_baseToWorldBasis = _worldToBaseBasis.transpose;
					SAFBIKMatGetRot( out _worldToBaseRotation, ref _worldToBaseBasis );
                    _baseToWorldRotation = Inverse( _worldToBaseRotation );
				} else {
					_defaultPosition = Vector3.zero;
					_defaultRotation = Quaternion.identity;
					_defaultBasis = Matrix3x3.identity;
					_defaultLocalTranslate = Vector3.zero;
					_defaultLocalLength = new FastLength();
					_defaultLocalDirection = Vector3.zero;

					_worldToBaseBasis = Matrix3x3.identity;
					_baseToWorldBasis = Matrix3x3.identity;
					_worldToBaseRotation = Quaternion.identity;
					_baseToWorldRotation = Quaternion.identity;
				}

				_ComputeLocalAxis( fullBodyIK ); // Require PostPrepare()
			}